In this article, we present an intrinsically stable Model Predictive Control (IS-MPC)
framework for humanoid gait generation that incorporates a stability constraint in the …

Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with
constrained height based on the capture point. In this paper, we generalize this analysis to …

This paper provides a brief survey of motion planning techniques for humanoid robots.
Among various related topics that constitute the broad framework of motion planning of …

Step adjustment can improve the gait robustness of biped robots; however, the adaptation of
step timing is often neglected as it gives rise to nonconvex problems when optimized over …

Motion planning in multicontact scenarios has recently gathered interest within the legged
robotics community, however actuator force/torque limits are rarely considered. We believe …

In order to smoothly perform interactions between a humanoid robot and a human,
knowledge about the human locomotion can be efficiently used. Indeed, in a human-robot …

The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by
height variations of the center of mass, in addition to the well-known ankle strategy. We …

In legged locomotion, the projection of the robot's Center of Mass (CoM) being inside the
convex hull of the contact points is a commonly accepted sufficient condition to achieve …

Model predictive control (MPC) has shown great success for controlling complex systems,
such as legged robots. However, when closing the loop, the performance and feasibility of …

This paper presents a Model Predictive Control (MPC) scheme capable of generating a 3D
gait for a humanoid robot. The proposed method starts from an assigned sequence of …